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<div class="title">LiftManager.h</div>  </div>
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<a href="_lift_manager_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="preprocessor">#include &quot;PIDControlledMotor.h&quot;</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="preprocessor">#include &quot;drivers/hitechnic-protoboard.h&quot;</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="code" href="_lift_manager_8h.html#a3822d88a990be1e66ac8c8cbb0737eaf">   11</a></span>&#160;<a class="code" href="struct_p_i_d_controlled_motor.html">PIDControlledMotor</a> <a class="code" href="_lift_manager_8h.html#a3822d88a990be1e66ac8c8cbb0737eaf" title="Contains a PID controller for the lift motors.">lift</a>;</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;</div>
<div class="line"><a name="l00014"></a><span class="lineno"><a class="code" href="_lift_manager_8h.html#af01748c820173c26a30a3d98b6d74b2e">   14</a></span>&#160;task <a class="code" href="_lift_manager_8h.html#af01748c820173c26a30a3d98b6d74b2e" title="Allows the runPIDController method to run concurrently with the main task of the program.">runControllers</a>()</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;{</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    runPIDController(lift);</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;}</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;</div>
<div class="line"><a name="l00024"></a><span class="lineno"><a class="code" href="_lift_manager_8h.html#ae394e744af7c641b8b3c9048d2d65ded">   24</a></span>&#160;task <a class="code" href="_lift_manager_8h.html#ae394e744af7c641b8b3c9048d2d65ded" title="Manges the lift instance of the PID controller.">moveLift</a>()</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    lift.Kp=.6;</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    lift.Ki=.0002;</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;    lift.Kd=7;</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    lift.Tp=0;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    lift.currentValue=HTPBreadADC(ProtoBoard,0,10);</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;    <span class="keywordflow">while</span>(HTPBreadADC(ProtoBoard,0,10)&lt;(lift.target+50))</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    {</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;        motor[LeftLift]=-100;</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;        motor[RightLift]=-100;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;        motor[TopLift]=-100;</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    }</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;    motor[LeftLift]=0;</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    motor[RightLift]=0;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    motor[TopLift]=0;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    StartTask(<a class="code" href="_lift_manager_8h.html#af01748c820173c26a30a3d98b6d74b2e" title="Allows the runPIDController method to run concurrently with the main task of the program.">runControllers</a>);</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    wait10Msec(50);</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="keywordflow">while</span>(<span class="keyword">true</span>)</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        lift.currentValue=HTPBreadADC(ProtoBoard,0,10);</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;        <span class="keywordflow">if</span>(abs(lift.power)&gt;=10)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;        {</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;            motor[LeftLift]=lift.power;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;            motor[RightLift]=lift.power;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;            motor[TopLift]=lift.power;</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        }</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            motor[LeftLift]=0;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            motor[RightLift]=0;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            motor[TopLift]=0;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordflow">if</span>(abs(lift.currentValue-lift.target)&lt;=5)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            motor[LeftLift]=0;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            motor[RightLift]=0;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            motor[TopLift]=0;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;            <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;        }</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;}</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;</div>
<div class="line"><a name="l00072"></a><span class="lineno"><a class="code" href="_lift_manager_8h.html#abae9ca135819d595513c6337fbd35c9b">   72</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="_lift_manager_8h.html#abae9ca135819d595513c6337fbd35c9b" title="Sets the lift to move to a specific position.">goToPosition</a>(<span class="keywordtype">int</span> position)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;{</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    StopTask(<a class="code" href="_lift_manager_8h.html#ae394e744af7c641b8b3c9048d2d65ded" title="Manges the lift instance of the PID controller.">moveLift</a>);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    lift.target=position;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    StartTask(<a class="code" href="_lift_manager_8h.html#ae394e744af7c641b8b3c9048d2d65ded" title="Manges the lift instance of the PID controller.">moveLift</a>);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;}</div>
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